/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package pl.edu.agh.pros.node;

import java.util.HashSet;
import java.util.Set;

import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.topic.Subscriber;

public class Listener extends AbstractNodeMain {

	private Set<String> receivedMessages = new HashSet<String>();

	@Override
	public GraphName getDefaultNodeName() {
		return new GraphName("rosjava_tutorial_pubsub/listener"); //$NON-NLS-1$
	}

	@Override
	public void onStart(ConnectedNode node) {
		try {
			final Log log = node.getLog();
			Subscriber<std_msgs.String> subscriber = node.newSubscriber("chatter", "std_msgs/String"); //$NON-NLS-1$ //$NON-NLS-2$
			subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
				@Override
				public void onNewMessage(std_msgs.String message) {
					log.info("I heard: \"" + message.getData() + "\""); //$NON-NLS-1$//$NON-NLS-2$
					getReceivedMessages().add(message.getData());
				}
			});
		} catch (Exception e) {
			if (node != null) {
				node.getLog().fatal(e);
			} else {
				e.printStackTrace();
			}
		}

	}

	public Set<String> getReceivedMessages() {
		return receivedMessages;
	}

}
